Motion Guidance Using Translational Force and Torque Feedback by Induced Pulling Illusion

It is known that humans experience a kinesthetic illusion similar to a pulling sensation in a particular direction, when subjected to asymmetric vibrations. In our previous study, we developed a device that can apply a translational force and a torque to induce this illusion. The illusory translational force might induce a reaching motion of the upper limb, and the applied torque might induce a flexion–extension motion of the wrist. In the present study, we experimentally verified whether these motions can be induced. The results confirmed that the device could guide the upper limb with a success rate of 94.3% when switching between the application of the translational force and the torque. The results suggested that torque application could be a cue for the user to determine the movement direction intuitively.